Coverage path planning method, device, equipment, computer device and storage medium

A coverage path and coverage direction technology, applied in the field of coverage path planning based on coarse positioning, can solve the problem that equipment cannot realize coverage operation economically and efficiently, and achieve the effects of low requirements, improved efficiency, and reduced cost

Active Publication Date: 2018-10-16
宁波拓邦智能控制有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The embodiment of the present invention provides a coverage path planning method, device, equipment, computer device and storage medium, aiming to solve the problem that the existing coverage path planning method makes the equipment unable to realize the coverage operation economically and efficiently

Method used

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  • Coverage path planning method, device, equipment, computer device and storage medium
  • Coverage path planning method, device, equipment, computer device and storage medium
  • Coverage path planning method, device, equipment, computer device and storage medium

Examples

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Effect test

Embodiment 1

[0032] figure 2 It shows a flow chart of a coverage path planning method provided by an embodiment of the present invention, which is applied to a work area partitioned by a cow-plow decomposition method, and the method includes the following steps:

[0033] Step S1, controlling the device to advance in a Z-shaped walking path perpendicular to the coverage direction, so that the walking path of the device covers the target partition;

[0034] Step S2, if the target partition is an end partition, or the next partition adjacent to the target partition along the coverage direction has been covered, then determine whether there is still a partition to be covered;

[0035] Step S3, if there is a partition to be covered, first control the device to enter the partition to be covered, and then control the device to exit toward the boundary of the partition to be covered in a Z-shaped walking path perpendicular to the coverage direction, when the If the device has retreated to the bo...

Embodiment 2

[0075] Figure 9 It shows a flow chart of a coverage path planning device provided by an embodiment of the present invention, which is applied to a work area partitioned by cattle-plowing decomposition method, and the device includes the following units:

[0076] The propulsion unit 100 is configured to control the device to advance in a zigzag walking path perpendicular to the coverage direction, so that the walking path of the device covers the target partition;

[0077] The partition to be covered judging unit 200 is configured to judge whether there is a partition to be covered if the target partition is an end partition, or the next partition adjacent to the target partition along the coverage direction has been covered;

[0078] The area to be covered coverage unit 300 is configured to firstly control the device to enter the area to be covered if there is an area to be covered, and then control the device to move toward the area to be covered in a Z-shaped walking path p...

Embodiment 3

[0115] An embodiment of the present invention provides a device, the device is a mobile device, and the mobile device includes the apparatus for planning a coverage path based on coarse positioning as provided in any one of the above second embodiments.

[0116] As a specific embodiment of the present invention, the mobile device is a mowing robot.

[0117] The mobile device in the above-mentioned embodiment of the invention is implemented in the following way: the control device performs coverage work. When the device is in the end partition, or when the next adjacent partition along the coverage direction has been covered, if there is still a partition to be covered, the control device enters first. In the area to be covered, the control device exits the area to be covered to find the boundary, and finally starts to cover it from the boundary of the area to be covered; the method provided by the present invention realizes coverage path planning based on rough positioning, bec...

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Abstract

The invention is applicable to the field of path planning, and provides a coverage path planning method, device, equipment, computer device and storage medium. The method is applied to a scene in which a work region is partitioned by a boustrophedon decomposition method, and comprises the following steps: controlling the equipment to propel in a Z-shaped walking path perpendicular to a coverage direction so that the walking path of the equipment covers a target subregion; if the target subregion is an end subregion or a next subregion adjacent to the target region in the coverage direction iscovered, judging whether a subregion to be covered exists; if so, firstly controlling the equipment to enter the subregion to be covered, and then controlling the equipment to retreat toward a boundary of the subregion to be covered in the Z-shaped walking path perpendicular to the coverage direction; and when the equipment retreats to the boundary of the subregion to be covered, controlling the equipment to cover the subregion to be covered in the Z-shaped walking path by starting from the boundary of the subregion to be covered. According to the invention, the coverage path can be planned without precise positioning so that the cost is greatly reduced, and the efficiency of coverage operation is relatively high.

Description

technical field [0001] The invention belongs to the field of path planning, and in particular relates to a rough positioning-based coverage path planning method, device, equipment, computer device and storage medium. Background technique [0002] With the continuous improvement of the degree of socialization, mobile robots play an indispensable and important role in various fields of production and life, which has aroused people's great attention to the key technology involved in it - path planning. Coverage path planning is a type of path planning. Its function is to determine a path that passes through all points in the area and avoids obstacles. This technology is mainly used in machinery and equipment for area coverage tasks, such as cleaning, spraying, grinding, demining, Mowing, snow shoveling, window cleaning robots, etc., but there are some problems in the current coverage path planning methods, which make the equipment unable to achieve coverage operations economica...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3407
Inventor 康少栋
Owner 宁波拓邦智能控制有限公司
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